Backstepping Fuzzy Sliding Mode Control for a Three-links Spatial Robot Based on Variable Rate Reaching Law
To achieve the tracing control of a three-links spatial robot, a backstepping fuzzy sliding mode controller based on variable rate reaching law is proposed in this paper. The sliding mode controller is designed by means of backstepping way. To reduce the adjustment time, a fuzzy controller is designed to adjust the slope of sliding mode surface. To diminish the chattering of traditional sliding mode control, the variable rate reaching law is proposed. The variable rate reaching law is composed of the distance from current point to sliding mode surface in phase plane. The simulation studies for the tracking control of a three-links spatial robot have been carried out. Simulation results show the validity of the proposed control scheme.
sliding mode control backstepping fuzzy control variable rate reaching law
Shengbin Hu Minxun Lu
College of Mechanical Engineering, Tongji University.Shanghai,China School of Air Transportation, Shanghai University of Engineering Science, Shanghai, China
国际会议
上海
英文
2213-2216
2011-10-21（万方平台首次上网日期，不代表论文的发表时间）